Vehicle control device

ABSTRACT

A vehicle control device includes a tracking unit estimating a motion of a moving object, a model selection unit selecting a motion model corresponding to a moving object type, an abnormality determination unit determining a presence or absence of an abnormality of the estimation of the motion of the moving object based on the estimated moving object motion and the motion indicated by the motion model, and a control unit. A control mode in which the control unit controls traveling of a host vehicle when the abnormality determination unit determines that the abnormality is present differs from a control mode in which the control unit controls the traveling of the host vehicle when the abnormality determination unit determines that the abnormality is absent.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of U.S. application Ser. No.16/042,525, filed Jul. 23, 2018 (allowed), which claims the benefit ofpriority from Japanese Patent Application No. 2017-173023, filed on Sep.8, 2017. The entire disclosures of the prior applications are consideredpart of the disclosure of the accompanying continuation application, andare hereby incorporated by reference.

TECHNICAL FIELD

The present disclosure relates to a vehicle control device controllingtraveling of a vehicle.

BACKGROUND

Known is a vehicle control device controlling traveling of a hostvehicle based on a detection result regarding vehicles around the hostvehicle. For example, Japanese Unexamined Patent Publication No.2011-145204 discloses a device detecting moving bodies such as vehiclesaround the host vehicle by using a sensor such as a laser sensor andtracking motions of the detected moving bodies.

SUMMARY

In the device disclosed in Japanese Unexamined Patent Publication No.2011-145204, moving object motion estimation accuracy may be reducedwhen, for example, a tracking-object moving object is re-detected aftera temporary detection failure. When the moving object motion estimationaccuracy is low, the vehicle control device is not capable ofappropriately controlling the traveling of the host vehicle when thetraveling of the host vehicle is controlled based on motions oftracking-object moving bodies. Accordingly, the presence or absence ofan abnormality of estimation of a motion of a tracking-object movingobject needs to be accurately determined for the vehicle control device.

The present disclosure relates to a vehicle control device controllingtraveling of a host vehicle. The vehicle control device includes adetection unit configured to detect a moving object around the hostvehicle, a tracking unit configured to track the moving object based ona detection result of the detection unit and estimate a motion of themoving object, a type determination unit configured to determine a typeof the moving object, a model storage unit configured to store aplurality of motion models determined in advance for each moving objecttype and indicating the motion of the moving object, a model selectionunit configured to select the motion model corresponding to the movingobject type determined by the type determination unit among theplurality of motion models stored in the model storage unit, anabnormality determination unit configured to determine a presence orabsence of an abnormality of the estimation of the motion of the movingobject by comparing the motion of the moving object estimated by thetracking unit and the motion indicated by the motion model selected bythe model selection unit to each other for a predetermined time, and acontrol unit configured to control the traveling of the host vehicle. Acontrol mode in which the control unit is configured to control thetraveling of the host vehicle when the abnormality determination unitdetermines that the abnormality is present differs from a control modein which the control unit is configured to control the traveling of thehost vehicle when the abnormality determination unit determines that theabnormality is absent.

The abnormality determination unit of the vehicle control device isconfigured to determine the presence or absence of the abnormality ofthe estimation of the motion of the moving object by comparing themotion of the moving object estimated by the tracking unit and themotion indicated by the motion model selected by the model selectionunit to each other for the predetermined time. The motion model used forthe determination of the presence or absence of the abnormality is amodel corresponding to a moving object type and appropriately indicatesa moving object motion. By using the motion model corresponding to amoving object type as described above, the vehicle control device iscapable of accurately determining the presence or absence of theabnormality of the estimation of a motion of a tracking-object movingobject.

The vehicle control device may further include a moving object positionacquisition unit configured to acquire a position of the moving objecton a map. The motion model may be determined in advance with respect toeach position on the map and the model selection unit may be configuredto select the motion model corresponding to the position of the movingobject acquired by the moving object position acquisition unit. Aconstraint may be applied to a moving object movement (such as a maximumspeed) depending on, for example, whether the position of the movingobject on the map is on a general road or a highway. In other words,different positions on the map have different moving object motionmodels. The model selection unit is configured to be capable ofselecting an appropriate motion model in accordance with each positionon the map by selecting a motion model corresponding to a moving objectposition. As a result, the vehicle control device is capable ofaccurately determining the presence or absence of the abnormality of theestimation of a motion of a tracking-object moving object.

The vehicle control device may further include a traveling staterecognition unit configured to recognize a traveling state of the hostvehicle. The motion model may be determined in advance for eachtraveling state of the moving object and the model selection unit may beconfigured to select the motion model corresponding to the travelingstate of the host vehicle recognized by the traveling state recognitionunit. In the case of traveling of a plurality of vehicles, for example,the plurality of vehicles may perform the same motion, examples of whichinclude the plurality of vehicles traveling at the same speed. In otherwords, it is conceivable that another vehicle (moving object) performsthe same motion as the host vehicle. Accordingly, the model selectionunit is configured to be capable of selecting an appropriate motionmodel corresponding to a moving object motion by selecting a motionmodel corresponding to the traveling state of the host vehicle as amoving object motion model. As a result, the vehicle control device iscapable of accurately determining the presence or absence of theabnormality of the estimation of a motion of a tracking-object movingobject.

The motion model includes may include a longitudinal direction parameteras an extension direction parameter of a road where the moving object ispresent and a lateral direction parameter as a width direction parameterof the road where the moving object is present. The longitudinaldirection parameter may include at least any one of a speed of themoving object in an extension direction of the road, an acceleration ofthe moving object in the extension direction of the road, and a positionof the moving object in the extension direction of the road. The lateraldirection parameter may include at least any one of a speed of themoving object in a width direction of the road, an acceleration of themoving object in the width direction of the road, a position of themoving object in the width direction of the road, and a direction of themoving object. By the motion model including the longitudinal directionparameter and the lateral direction parameter as described above, themotion of a tracking-object moving object can be appropriately indicatedby the motion model.

The vehicle control device may further include a positional relationshiprecognition unit configured to recognize a positional relationshipbetween the host vehicle and the moving object determined to have themotion estimation abnormality based on the detection result of thedetection unit. The control unit may be configured to determine thecontrol mode for the control of the traveling of the host vehicleperformed when the abnormality determination unit determines that theabnormality is present in accordance with the positional relationshiprecognized by the positional relationship recognition unit. In thiscase, the vehicle control device is capable of determining the controlmode for the traveling of the host vehicle in accordance with thepositional relationship between the host vehicle and a tracking objectdetermined to have the motion estimation abnormality.

The vehicle control device may further include a notification unitconfigured to provide a notification with respect to a driver of thehost vehicle. The control unit may be configured to decelerate the hostvehicle and the notification unit may be configured to provide thenotification for the driver of the host vehicle when the positionalrelationship recognition unit recognizes that the moving objectdetermined to have the motion estimation abnormality is positioned infront of the host vehicle. As a result, a decrease in the distancebetween the host vehicle and the moving object in front of the hostvehicle determined to have the motion estimation abnormality can besuppressed. In addition, as a result of the notification for the driver,the driver can recognize the occurrence of a motion estimationabnormality of the moving object in front and the driver himself orherself can take action such as a driving operation for the hostvehicle.

The control unit may be configured to allow the host vehicle to performautonomous traveling in a lane change-prohibited state when thepositional relationship recognition unit recognizes that the movingobject determined to have the motion estimation abnormality is presentat a parallel traveling position with respect to the host vehicle. Inthis case, the host vehicle becoming close to the moving objectdetermined to have the motion estimation abnormality due to lane changeby the host vehicle can be suppressed.

When the positional relationship recognition unit recognizes that themoving object determined to have the motion estimation abnormality ispositioned behind the host vehicle and another moving object is detectedin front of the host vehicle by the detection unit, the control unit maybe configured to accelerate the host vehicle such that a distancebetween the host vehicle and the moving object in front does not becomea predetermined distance or less and a speed of the host vehicle doesnot exceed a speed limit set on a road where the host vehicle travels.When the positional relationship recognition unit recognizes that themoving object determined to have the motion estimation abnormality ispositioned behind the host vehicle and no moving object is detected infront of the host vehicle by the detection unit, the control unit may beconfigured to accelerate the host vehicle such that the speed of thehost vehicle does not exceed the speed limit set on the road where thehost vehicle travels. As a result, a decrease in the distance betweenthe host vehicle and the moving object behind the host vehicledetermined to have the motion estimation abnormality can be suppressed.In addition, when another moving object is detected in front of the hostvehicle, the host vehicle becoming excessively close to the movingobject in front can be suppressed. Furthermore, the speed of the hostvehicle exceeding the speed limit can be suppressed.

According to the present disclosure, the presence or absence of anabnormality of estimation of a motion of a tracking-object moving objectcan be accurately determined.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagram illustrating a schematic configuration of a vehiclecontrol device according to an embodiment.

FIG. 2 is a flowchart illustrating the flow of normal mode-fail modeswitching determination processing.

DETAILED DESCRIPTION

Hereinafter, an embodiment of the present disclosure will be describedwith reference to accompanying drawings. In the description of thedrawings, the same reference numerals will be used to refer to the sameelements so that duplicate description is omitted.

As illustrated in FIG. 1, a vehicle control device 100 according to thepresent embodiment executes autonomous driving control as control of thetraveling of a host vehicle V so that the host vehicle V performsautonomous traveling. The host vehicle V is put into an autonomousdriving state by the autonomous driving control being executed. Theautonomous driving state is a driving state where a driver does not haveto perform any driving operation and the driving control for the hostvehicle V including speed control and steering control is executed bythe vehicle control device 100.

The vehicle control device 100 is provided with an electronic controlunit [ECU] 10 for controlling the autonomous driving and so on of thehost vehicle. The ECU 10 is an electronic control unit that has acentral processing unit [CPU], a read only memory [ROM], a random accessmemory [RAM], and the like. The ECU 10 executes various types of controlby loading a program stored in the ROM into the RAM and executing theprogram with the CPU. A plurality of electronic control units mayconstitute the ECU 10 as well. In addition, some of the functions of theECU 10 to be described below may be executed in a computer in a facilitysuch as an information processing center capable of communicating withthe host vehicle V.

An external sensor (detection unit) 1, a GPS receiving unit 2, aninternal sensor 3, a map database 4, a navigation system 5, an actuator6, and a human machine interface [HMI] 7 are connected to the ECU 10.

The external sensor 1 is detection equipment detecting a situation(moving object) around the host vehicle V. The external sensor 1includes at least one of a camera and a radar sensor.

The camera is imaging equipment imaging the external situation aroundthe host vehicle V. The camera is disposed to be capable of imaging thesurroundings of the host vehicle V. The camera transmits imaginginformation related to the external situation regarding the host vehicleV to the ECU 10. The camera may be a monocular camera or may be a stereocamera. The stereo camera has two imaging units that are placed toreproduce a binocular disparity. Depth direction information is alsoincluded in the imaging information of the stereo camera.

The radar sensor is detection equipment detecting obstacles around thehost vehicle V by using radio waves (such as millimeter waves) or light.The radar sensor includes, for example, millimeter wave radar or lightdetection and ranging [LIDAR]. The radar sensor detects the obstacles bytransmitting the radio waves or the light to the surroundings of thehost vehicle V and receiving the radio waves or the light reflected bythe obstacles. The radar sensor transmits detected obstacle informationto the ECU 10. The obstacles include moving obstacles such aspedestrians and vehicles as well as fixed obstacles such as guardrailsand buildings.

The GPS receiving unit 2 measures the position of the host vehicle V(such as the latitude and the longitude of the host vehicle V) byreceiving signals from at least three GPS satellites. The GPS receivingunit 2 transmits measured positional information regarding the hostvehicle V to the ECU 10.

The internal sensor 3 is detection equipment detecting the travelingstate of the host vehicle V. The internal sensor 3 includes a vehiclespeed sensor, an acceleration sensor, and a yaw rate sensor. The vehiclespeed sensor is a detector that detects the speed of the host vehicle V.A vehicle wheel speed sensor that is disposed with respect to a vehiclewheel of the host vehicle V, a drive shaft rotating integrally with thevehicle wheel, or the like and detects the rotation speed of the vehiclewheel is used as the vehicle speed sensor. The vehicle speed sensortransmits detected vehicle speed information to the ECU 10.

The acceleration sensor is a detector that detects the acceleration ofthe host vehicle V. The acceleration sensor includes a longitudinalacceleration sensor detecting the acceleration of the host vehicle V ina longitudinal direction and a lateral acceleration sensor detecting thelateral acceleration of the host vehicle V. The acceleration sensortransmits acceleration information regarding the host vehicle V to theECU 10. The yaw rate sensor is a detector that detects the yaw rate(rotation angular velocity) around the vertical axis of the center ofgravity of the host vehicle V. A gyro sensor can be used as an exampleof the yaw rate sensor. The yaw rate sensor transmits detected yaw rateinformation regarding the host vehicle V to the ECU 10.

The map database 4 is a database in which map information is stored. Themap database 4 is formed within a hard disk drive [HDD] that is mountedin the host vehicle V. The map information includes, for example,positional information regarding roads, road shape information, roadtype information (such as the types of general roads and highways),positional information regarding junctions and intersection points,speed limits set for roads, and positional information regardingbuildings. The map database 4 may be stored in the computer in thefacility such as the information processing center capable ofcommunicating with the host vehicle V.

The navigation system 5 is a system that guides the driver of the hostvehicle V to a destination set in advance. The navigation system 5generates a path from the current position of the host vehicle V to thedestination based on the position of the host vehicle V measured by theGPS receiving unit 2 and the map information in the map database 4. Thenavigation system 5 performs the guiding of the path with respect to thedriver by image display and voice output of the HMI 7 (described later).The navigation system 5 transmits information related to the destinationof the host vehicle V and the path of the vehicle to the ECU 10. Thevehicle control device 100 does not necessarily have to be provided withthe navigation system 5. The generation of the path of the host vehicleV may be performed by the ECU 10 as well. The destination may be set byan occupant or may be automatically set by a known method by thenavigation system 5 or the like.

The actuator 6 is a device that controls the traveling of the hostvehicle V. The actuator 6 includes at least an engine actuator, a brakeactuator, and a steering actuator. The engine actuator controls thedrive force of the host vehicle V by changing the amount of air supplyto an engine (by changing, for example, a throttle opening degree) inaccordance with a control signal from the ECU 10. When the host vehicleV is a hybrid vehicle or an electric vehicle, the engine actuatorcontrols the drive force of a motor as a power source.

The brake actuator controls a brake system in accordance with a controlsignal from the ECU 10 and controls a braking force given to the vehiclewheel of the host vehicle V. A hydraulic brake system can be used as anexample of the brake system. When the host vehicle V is provided with aregenerative brake system, the brake actuator may control both thehydraulic brake system and the regenerative brake system. The steeringactuator controls, in accordance with a control signal from the ECU 10,driving of an assist motor that controls a steering torque in anelectric power steering system. In this manner, the steering actuatorcontrols the steering torque of the host vehicle V.

The HMI (notification unit) 7 is an interface for information output andinput between the occupant of the host vehicle V and the vehicle controldevice 100. The HMI 7 is provided with, for example, a display and aspeaker. The HMI 7 performs the image output on the display and thevoice output from the speaker in accordance with a control signal fromthe ECU 10. The display may be a head-up display. The HMI 7 is providedwith, for example, input equipment (such as a button, a touch panel, anda voice input device) for receiving input from the occupant.

The HMI 7 functions also as a notification unit providing a notificationfor the driver of the host vehicle V. In this case, the HMI 7 performsthe notification with respect to the driver by displaying a notificationimage on the display or outputting a notification voice or the like fromthe speaker. A timing when the HMI 7 performs the notification will bedescribed in detail later.

Functionally, the ECU 10 is provided with a vehicle position recognitionunit 11, an external situation recognition unit 12, a traveling staterecognition unit 13, a model storage unit 14, a model selection unit 15,an abnormality determination unit 16, a traveling plan generation unit(control unit) 17, and a traveling control unit (control unit) 18.

The vehicle position recognition unit 11 recognizes the position of thehost vehicle V on a map based on the positional information of the GPSreceiving unit 2 and the map information of the map database 4. Thevehicle position recognition unit 11 may also recognize the position ofthe host vehicle V with existing SLAM technology by using the detectionresult of the external sensor 1 and the positional information includedin the map information of the map database 4 and related to fixedobstacles such as an electric pole.

The external situation recognition unit 12 recognizes the externalsituation around the host vehicle V based on the detection result of theexternal sensor 1. The external situation recognition unit 12 recognizesthe external situation regarding the host vehicle V including thepositions of obstacles around the host vehicle V by a known method andbased on an image captured by the camera and/or the obstacle informationof the radar sensor.

Specifically, the external situation recognition unit 12 is providedwith an obstacle detection unit (tracking unit) 12 a, a typedetermination unit 12 b, a moving object position acquisition unit 12 c,and a positional relationship recognition unit 12 d.

The obstacle detection unit 12 a detects the obstacles around the hostvehicle V (positions of the obstacles) based on the detection result ofthe external sensor 1. In addition, the obstacle detection unit 12 atracks moving bodies among the obstacles around the host vehicle V andestimates motions of the moving bodies based on the detection result ofthe external sensor 1. The moving bodies that are the tracking objectsof the obstacle detection unit 12 a are, for example, persons andvehicles (such as bicycles, ordinary cars, and large cars). The obstacledetection unit 12 a tracks the moving bodies and estimates the motionsthereof by a known method and based on an image captured by the cameraand/or the obstacle information of the radar sensor. In addition, theobstacle detection unit 12 a retains (stores) motions of objects withina predetermined past period that ends at the current point in time.

A case where the obstacle detection unit 12 a estimates the motions ofthe moving bodies by using the detection result of the LIDAR will bedescribed as an example. The obstacle detection unit 12 a calculates amoving object movement amount by performing point group pattern matchingwith respect to moving object detection results detected at timingsdifferent in time. The obstacle detection unit 12 a is capable ofestimating the movement position and speed of a moving object byinputting the calculated movement amount to a Kalman filter. When thepattern that is extracted from the characteristics of the point group ofthe moving object detected by the LIDAR is stable, the obstacledetection unit 12 a is capable of appropriately tracking the movement ofthe moving object by pattern matching. As a result, the motion(acceleration, yaw rate, and so on) of the moving object estimated bythe obstacle detection unit 12 a is also a stable motion. When thepattern that is extracted from the characteristics of the point group ofthe moving object detected by the LIDAR is unstable, the moving objectcannot be appropriately tracked by pattern matching. Accordingly, themotion (acceleration, yaw rate, and so on) of the moving objectestimated by the obstacle detection unit 12 a is unstable. The motion ofthe moving object estimated by the obstacle detection unit 12 a isunstable also when the moving object tracked thus far by point grouppattern matching is temporarily lost and a different moving object istracked as the same moving object by mistake upon re-detection.

When a plurality of moving bodies is detected by the external sensor 1,the obstacle detection unit 12 a regards one or more moving bodies astracking-object moving bodies and estimates motions of thetracking-object moving bodies.

The type determination unit 12 b determines the type of a moving objectwhose motion is estimated by the obstacle detection unit 12 a based onthe detection result of the external sensor 1. The type determinationunit 12 b is capable of determining the type of the moving object basedon an image captured by the camera and/or the obstacle information ofthe radar sensor and by a known method such as comparison between theshape pattern of a detected object and a reference pattern determined inadvance for each moving object type. The type determination unit 12 bdetermines the types of persons, bicycles, small cars, large cars, andso on as the types of moving bodies.

The moving object position acquisition unit 12 c acquires the positionof a moving object whose motion is estimated by the obstacle detectionunit 12 a on the map. For example, the moving object positionacquisition unit 12 c may acquire the position of the moving object onthe map based on the position of the host vehicle V on the maprecognized by the vehicle position recognition unit 11 and the positionof the moving object with respect to the host vehicle V obtained basedon the detection result of the external sensor 1.

The positional relationship recognition unit 12 d recognizes thepositional relationship between the host vehicle V and a moving objectbased on the detection result of the external sensor 1 after theabnormality determination unit 16 determines that the moving object hasa motion estimation abnormality. For example, the positionalrelationship recognition unit 12 d recognizes whether or not the movingobject determined to have the motion estimation abnormality is a movingobject (preceding vehicle) positioned in front of the host vehicle V.The positional relationship recognition unit 12 d recognizes whether ornot the moving object determined to have the motion estimationabnormality is a moving object (parallel traveling vehicle) present at aparallel traveling position with respect to the host vehicle V. Themoving object (parallel traveling vehicle) that is present at theparallel traveling position with respect to the host vehicle V is amoving object moving in an adjacent lane adjacent to the traveling laneof the host vehicle V. The moving object and the host vehicle Vtraveling in parallel to each other means a state where the distancebetween the moving object and the host vehicle V is equal to or lessthan a predetermined distance in the extension direction of thetraveling lane of the host vehicle V. The positional relationshiprecognition unit 12 d recognizes whether or not the moving objectdetermined to have the motion estimation abnormality is a moving object(following vehicle) positioned behind the host vehicle V.

The traveling state recognition unit 13 recognizes the traveling stateof the host vehicle V including the vehicle speed and direction of thehost vehicle V based on the detection result of the internal sensor 3.Specifically, the traveling state recognition unit 13 recognizes thevehicle speed of the host vehicle V based on the vehicle speedinformation of the vehicle speed sensor. The traveling state recognitionunit 13 recognizes the direction of the host vehicle V based on the yawrate information of the yaw rate sensor.

The model storage unit 14 stores a plurality of motion models determinedin advance for each moving object type. The motion models are modelsindicating motions of moving bodies. The characteristics of the motionsof the moving bodies are different from moving object type to movingobject type. For example, an automobile is incapable of moving in alateral direction whereas a person can move in the lateral direction.For example, a small car is capable of rotating with a smaller radiusthan a large car. The plurality of motion models is stored for eachmoving object type in accordance with the types of moving bodies, thatis, the characteristics of motions of moving bodies as described above.

A known model indicating a motion of a moving object can be used as themotion model. The motion model may be a known vehicle model indicating avehicle motion or a model in which a motion constraint (such as an upperlimit value) is set by an operator or the like.

The motion model may also include a longitudinal direction parameter asan extension direction parameter of the road where a moving object ispresent and a lateral direction parameter as a width direction parameterof the road where the moving object is present. The longitudinaldirection parameter may include at least any one of the speed of themoving object in the extension direction of the road, the accelerationof the moving object in the extension direction of the road, and theposition of the moving object in the extension direction of the road.The lateral direction parameter may include at least any one of thespeed of the moving object in the width direction of the road, theacceleration of the moving object in the width direction of the road,the position of the moving object in the width direction of the road,and the direction of the moving object.

The model that is disclosed in “Model Based Vehicle Tracking forAutonomous Driving in Urban Environments” (by Anna Petrovskaya andSebastian Thrun) may be used as a specific example of the motion model.

As another specific example of the motion model, motion model 1 is [x,y, vx, vy] and motion model 2 is [x, y, θ, v]. x and y are positions inan xy coordinate system set on a road surface. vx and vy are the speedsof the moving object in the x-axis direction and the y-axis direction ofthe xy coordinate system, respectively. θ is the direction (travelingdirection) of the moving object. v is the speed of the moving object.

In this case, motion model 1 is a mass point model and a model in whichthe moving object is capable of moving sideways (in the directionorthogonal to the direction in which the moving object faces).Accordingly, motion model 1 can be used as a motion model of a person(pedestrian). Motion model 2 is a general vehicle model and is a modelnot allowing bending at a speed v of zero. Accordingly, motion model 2can be used in a vehicle such as an automobile and a bicycle.

Simply the speed, acceleration, or the like may also be used as yetanother specific example of the motion model. For example, a person'smovement speed and the movement speed of a vehicle differ from eachother. Accordingly, the speed, acceleration, or the like depending onmoving object type may be used as the motion model.

In addition, the motion model is determined in advance with respect toeach position on the map as well as the moving object type. Thecharacteristics of motions differ from moving object position to movingobject position. For example, different places where an automobiletravels have different traffic rules (speed limits and so on), and thusthe different places where the automobile travels have different motioncharacteristics (maximum speeds and so on). In addition, for example,the acceleration of an automobile during traveling on a straight roaddiffers from that during traveling at an intersection point. The movingobject has different motion characteristics depending on its position asdescribed above, and thus models depending on positions on the map areset in advance as the motion models.

Specifically, for example, the value of “−0.3 G<acceleration<0.3 G” maybe set as the acceleration of the motion model in a longitudinaldirection (road extension direction) in the case of automobile travelingon a straight road. The value of “−0.7 G<acceleration<0.3 G” may be setas the acceleration of the motion model in the longitudinal direction inthe case of automobile traveling at an intersection point. In otherwords, the motion model in the case of automobile traveling at anintersection point may be a model assuming rapid decelerationattributable to strong brake pedal depression.

When the motion model is determined in advance with respect to eachposition on the map, the motion model may be generated based on the pasttraveling state of a vehicle or the like. For example, the motion modelof an automobile at each point may be determined based on a travelingstate-detecting probe car (traveling state-collecting automobile) or thetraveling state at a time of past traveling of the host vehicle V or thelike at each point.

In this manner, the motion model is determined in advance for eachmoving object type and each position on the map.

The motion model may also be determined in advance for each movingobject traveling state (movement state) instead of each position on themap. For example, the motion model may be determined for each movingobject movement speed as the moving object traveling state. When themoving object is an automobile, for example, the motion model may bedetermined for each automobile speed within a speed limit. In this case,the motion model may be determined in advance for each moving objecttype and each moving object traveling state.

The model selection unit 15 selects the motion model that corresponds tothe object type determined by the type determination unit 12 b among theplurality of motion models stored in the model storage unit 14. Forexample, the model selection unit 15 selects a motion modelcorresponding to a person when the type determination unit 12 bdetermines that the object is a person.

In addition, the model selection unit 15 selects the motion model thatcorresponds to the moving object position acquired by the moving objectposition acquisition unit 12 c in addition to the moving object type.For example, the type determination unit 12 b determines that the movingobject is a small car and the moving object position acquisition unit 12c supposes that the moving object travels at a certain point on the map.In this case, the model selection unit 15 selects the motion modelcorresponding to the small car and determined with respect to thecertain point on the map.

When the motion model is determined in advance for each moving objecttype and each moving object traveling state, the model selection unit 15may select the motion model corresponding to the traveling state of thehost vehicle V recognized by the traveling state recognition unit 13 inaddition to the moving object type. In the case of traveling of aplurality of vehicles, for example, the plurality of vehicles mayperform the same motion, examples of which include the plurality ofvehicles traveling at the same speed. In other words, it is conceivablethat another automobile performs the same motion as the host vehicle V.When the host vehicle V travels at 60 kilometers per hour, for example,it is conceivable that another automobile around the host vehicle V alsotravels at 60 kilometers per hour. Accordingly, when the host vehicle Vtravels at 60 kilometers per hour, the model selection unit 15 selects amotion model of traveling at 60 kilometers per hour. The model selectionunit 15 is not limited to selecting the motion model of the travelingstate that completely corresponds to the traveling state of the hostvehicle V and may also select a motion model of a traveling state wherethe difference from the traveling state of the host vehicle V is withina predetermined value.

The abnormality determination unit 16 determines the presence or absenceof a moving object motion estimation abnormality by comparing the movingobject motion estimated by the obstacle detection unit 12 a and themotion indicated by the motion model selected by the model selectionunit 15 to each other for a predetermined time. When moving objecttracking is appropriately performed in the obstacle detection unit 12 a,for example, the moving object motion estimated by the obstacledetection unit 12 a and the motion indicated by the motion modelselected by the model selection unit 15 are almost the same as eachother. When moving object tracking is not appropriately performed in theobstacle detection unit 12 a, the moving object motion estimated by theobstacle detection unit 12 a and the motion indicated by the motionmodel selected by the model selection unit 15 are significantlydifferent from each other. Accordingly, the abnormality determinationunit 16 determines that the moving object motion estimation has anabnormality when the estimated moving object motion differs from themotion indicated by the motion model by a predetermined value or moreand determines that the moving object motion estimation has noabnormality when the estimated moving object motion does not differ fromthe motion indicated by the motion model by the predetermined value ormore.

The abnormality determination unit 16 compares the moving object motionestimated by the obstacle detection unit 12 a and the motion indicatedby the motion model selected by the model selection unit 15 to eachother for the predetermined time. When comparing the estimated movingobject motion and the motion indicated by the motion model to each otherfor the predetermined time, the abnormality determination unit 16determines that the moving object motion estimation has the abnormalitywhen the two motions differ from each other by the predetermined valueor more.

For example, the abnormality determination unit 16 sets a moving objectmotion constraint based on a selected motion model. Then, theabnormality determination unit 16 may determine the presence or absenceof an abnormality based on whether or not the estimated moving objectmotion is within the set motion constraint. In this case, theabnormality determination unit 16 determines that the moving objectmotion estimation has an abnormality when the estimated moving objectmotion is out of the set motion constraint.

Specifically, the abnormality determination unit 16 determines that themoving object motion estimation has an abnormality when, for example,any one of the following constraints (1) to (7) is not established. Theleft-hand sides of the constraints (1) to (7) are values obtained basedon the moving object motion estimated by the obstacle detection unit 12a. The right-hand sides of the constraints (1) to (7) are valuesobtained based on the moving object motion indicated by the motion modelselected by the model selection unit 15. The “longitudinal” in theconstraints (1) to (7) is the extension direction of the road where amoving object is present and the “lateral” in the constraints (1) to (7)is the width direction of the road where the moving object is present.The abnormality determination unit 16 determines for a predeterminedtime whether or not the estimated moving object motion (left-hand side)satisfies the constraints (1) to (7) (right-hand side)

(1) |estimated longitudinal movement distance of moving object|<|maximumlongitudinal movement distance of motion model|(2) |estimated lateral movement distance of moving object|<|maximumlateral movement distance of motion model|(3) |estimated longitudinal movement speed of moving object|<|maximumlongitudinal movement speed of motion model|(4) |estimated lateral movement speed of moving object|<|maximum lateralmovement speed of motion model|(5) |estimated longitudinal acceleration of moving object|<|maximumlongitudinal acceleration of motion model|(6) |estimated lateral acceleration of moving object|<|maximum lateralacceleration of motion model|(7) |estimated yaw rate of moving object|<|yaw rate of motion model|

Although the abnormality determination unit 16 compares the estimatedmoving object motion and the motion indicated by the selected motionmodel to each other for the predetermined time, the predetermined timemay not be a predetermined time determined in advance and may also bechanged. For example, the abnormality determination unit 16 may changethe predetermined time based on the traveling state of the host vehicleV. For example, the abnormality determination unit 16 may change thepredetermined time based on the speed of the host vehicle V. In thiscase, the abnormality determination unit 16 may lengthen thepredetermined time as the speed of the host vehicle V decreases. Inaddition, the abnormality determination unit 16 may change thepredetermined time based on the relative speed of the host vehicle V andthe moving object that is a motion estimation object. In this case, aninter-vehicle distance increases as the relative speed (relativespeed=speed of moving object−speed of host vehicle V) increases on theplus side, and thus the abnormality determination unit 16 may lengthenthe predetermined time as the relative speed increases on the plus side.The inter-vehicle distance decreases as the relative speed increases onthe minus side, and thus the abnormality determination unit 16 mayshorten the predetermined time as the relative speed increases on theminus side.

The traveling plan generation unit 17 generates a traveling plan of thehost vehicle V based on a target route set by the navigation system 5,the map information of the map database 4, the external situation aroundthe host vehicle V recognized by the external situation recognition unit12 (including the moving object motion estimated by the obstacledetection unit 12 a), and the traveling state of the host vehicle Vrecognized by the traveling state recognition unit 13. The travelingplan generation unit 17 initiates the traveling plan generation when thedriver performs an autonomous driving control initiation operation. Thetraveling plan is a traveling plan for the host vehicle V to reach adestination set in advance from the current position of the host vehicleV.

The traveling plan includes a control target value for the host vehicleV depending on the position of the host vehicle V on the target route.The position on the target route is a position in the extensiondirection of the target route on the map. The positions on the targetroute mean setting longitudinal positions set at predetermined intervals(such as 1 m) in the extension direction of the target route. Thecontrol target value is a value that becomes a control target for thehost vehicle V in the traveling plan. The control target value includesa target vehicle speed and a target trajectory. The target vehicle speedis a value that becomes a control target for the vehicle speed of thehost vehicle V in a normal traveling plan. The target trajectory is avalue that becomes a control target for the trajectory along which thehost vehicle V travels. A target steering angle that is a control targetfor the steering angle of the host vehicle V is calculated from thetarget trajectory.

The target vehicle speed is set in accordance with positions on the pathalong which the host vehicle V travels by the autonomous drivingcontrol. The path along which the host vehicle V travels by theautonomous driving control is a target route for the autonomous drivingcontrol connecting a destination set in advance to the current positionof the vehicle on the map. The positions on the path are positions inthe extension direction of the path on the map. Specifically, thepositions on the path can be setting longitudinal positions set atpredetermined intervals (such as 1 m) in the extension direction of thepath. Methods for setting the setting longitudinal position are notlimited to the method described above. In a normal traveling plan, thetarget vehicle speed is set for each setting longitudinal position.

A target acceleration or a target jerk may be used instead of the targetvehicle speed. In addition, a target steering angle, a target steeringangular velocity, a target steering torque, or a target lateral position(width direction position of the vehicle on a target road) may be setfor each setting longitudinal position in addition to the targettrajectory. A known parameter related to vehicle control may also beadded to the control target value.

In addition, when the abnormality determination unit 16 determines thatthere is an abnormality, the traveling plan generation unit 17 generatesa traveling plan with a control mode differing from that when theabnormality determination unit 16 determines that there is noabnormality. When the abnormality determination unit 16 determines thatthere is an abnormality, a transition to a fail mode occurs in thecontrol mode for the traveling of the host vehicle V. Accordingly, whenthe abnormality determination unit 16 determines that there is anabnormality, the traveling plan generation unit 17 generates a travelingplan for the fail mode. When the abnormality determination unit 16determines that there is no abnormality, the traveling plan generationunit 17 generates the traveling plan for a normal mode as describedabove. The traveling plan for the fail mode will be described below.

When the abnormality determination unit 16 determines that there is anabnormality, it is conceivable that appropriate moving object trackingby the obstacle detection unit 12 a is impossible. Accordingly, forexample, the traveling plan generation unit 17 generates a travelingplan for the host vehicle V to keep at least a predetermined distancefrom a moving object determined by the abnormality determination unit 16to have a motion estimation abnormality or for the host vehicle V to beseparated from the moving object determined to have the abnormality.

Specifically, the traveling plan generation unit 17 is capable ofdetermining a traveling plan generated when the abnormalitydetermination unit 16 determines that there is an abnormality inaccordance with the positional relationship recognized by the positionalrelationship recognition unit 12 d.

For example, when the positional relationship recognition unit 12 drecognizes that the moving object determined to have the motionestimation abnormality is positioned in front of the host vehicle V, thetraveling plan generation unit 17 is capable of generating a travelingplan for decelerating the host vehicle V. When the positionalrelationship recognition unit 12 d recognizes that the moving objectdetermined to have the motion estimation abnormality is positioned infront of the host vehicle V, the HMI 7 is capable of providing anotification for the driver of the host vehicle V so that the driverhimself or herself performs an accelerator or brake operation.

For example, when the positional relationship recognition unit 12 drecognizes that the moving object determined to have the motionestimation abnormality is present at the parallel traveling positionwith respect to the host vehicle V, the traveling plan generation unit17 is capable of generating a traveling plan for autonomous host vehicletraveling in a lane change-prohibited state. When the positionalrelationship recognition unit 12 d recognizes that the moving objectdetermined to have the motion estimation abnormality is present at theparallel traveling position with respect to the host vehicle V, the HMI7 is capable of providing a notification for the driver of the hostvehicle V so that the driver himself or herself performs a lane changeoperation if needed. When the abnormality determination unit 16determines that there is no motion estimation abnormality, the travelingplan generation unit 17 generates a traveling plan allowing the hostvehicle V to change lanes as the traveling plan for the normal mode.

For example, when the positional relationship recognition unit 12 drecognizes that the moving object determined to have the motionestimation abnormality is positioned behind the host vehicle V andanother moving object is detected in front of the host vehicle V by theexternal sensor 1, the traveling plan generation unit 17 is capable ofgenerating a traveling plan for accelerating the host vehicle V suchthat the distance between the host vehicle V and the moving object infront does not become a predetermined distance or less and the speed ofthe host vehicle V does not exceed the speed limit set on the road wherethe host vehicle V travels. When no other moving object is detected infront of the host vehicle V by the external sensor 1, the traveling plangeneration unit 17 is capable of generating a traveling plan foraccelerating the host vehicle V such that the speed of the host vehicleV does not exceed the speed limit set on the road where the host vehicleV travels. The traveling plan generation unit 17 is capable ofdetermining whether or not another moving object is detected in front ofthe host vehicle V based on the detection result of the obstacledetection unit 12 a. The traveling plan generation unit 17 is capable ofusing a speed limit stored in the map database 4 as the speed limit seton the road.

The traveling control unit 18 executes the autonomous driving controlincluding speed control and steering control for the host vehicle Vbased on the position of the host vehicle V on the map recognized by thevehicle position recognition unit 11 and the traveling plan generated bythe traveling plan generation unit 17. The traveling control unit 18executes the autonomous driving control by transmitting a control signalto the actuator 6. The driving state of the host vehicle V becomes theautonomous driving state by the traveling control unit 18 executing theautonomous driving control.

When the abnormality determination unit 16 determines that there is noabnormality, the traveling control unit 18 controls the traveling of thehost vehicle V based on the traveling plan for the normal mode generatedby the traveling plan generation unit 17. When the abnormalitydetermination unit 16 determines that there is an abnormality, thetraveling control unit 18 controls the traveling of the host vehicle Vbased on the traveling plan for the fail mode generated by the travelingplan generation unit 17.

In this manner, the traveling plan generation unit 17 and the travelingcontrol unit 18 function as control units that control the traveling ofthe host vehicle V in different control modes depending on the presenceor absence of an abnormality.

Normal mode-fail mode switching determination processing performed bythe vehicle control device 100 will be described below. The processingthat is illustrated in FIG. 2 is initiated when the driver performs theautonomous driving control initiation operation. In addition, theprocessing that is illustrated in FIG. 2 is repeatedly executed atpredetermined determination time intervals during the execution of theautonomous driving control for the host vehicle V.

The normal mode is selected in advance before the processing illustratedin FIG. 2 is initiated. The vehicle control device 100 controls thetraveling of the host vehicle V in the normal mode while the normal modeis selected (between the normal mode state and fail mode selection). Inother words, the traveling plan generation unit 17 generates thetraveling plan for the normal mode and the traveling control unit 18performs processing such as controlling of the traveling of the hostvehicle V based on the generated traveling plan. The vehicle controldevice 100 controls the traveling of the host vehicle V in the fail modewhile the fail mode is selected (between the fail mode state and normalmode selection). In other words, the traveling plan generation unit 17generates the traveling plan for the fail mode and the traveling controlunit 18 performs processing such as controlling of the traveling of thehost vehicle V based on the generated traveling plan.

As illustrated in FIG. 2, the obstacle detection unit 12 a estimates amoving object motion based on the detection result of the externalsensor 1 (S101). The model selection unit 15 selects a motion modelcorresponding to, for example, the object type determined by the typedetermination unit 12 b (S102).

The abnormality determination unit 16 determines the presence or absenceof a moving object motion estimation abnormality by comparing the movingobject motion estimated by the obstacle detection unit 12 a and themotion indicated by the motion model selected by the model selectionunit 15 to each other for a predetermined time (S103). When theabnormality determination unit 16 determines that there is no motionestimation abnormality (S103: NO), the vehicle control device 100selects the normal mode as the control mode for the traveling of thehost vehicle V (S104). When the normal mode is selected in S104 of theprevious processing during the repeated execution of the processingillustrated in FIG. 2, the vehicle control device 100 maintains thenormal mode-selected state in the current processing of S104. When thefail mode is selected in S105 of the previous processing, the vehiclecontrol device 100 switches the control mode from the fail mode to thenormal mode in the current processing of S104. When the control mode isswitched from the fail mode to the normal mode, the HMI 7 may notify thedriver of the host vehicle V of the switching to the normal mode.

When the abnormality determination unit 16 determines that there is amotion estimation abnormality (S103: YES), the vehicle control device100 selects the fail mode as the control mode for the traveling of thehost vehicle V (S105). When the fail mode is selected in S105 of theprevious processing during the repeated execution of the processingillustrated in FIG. 2, the vehicle control device 100 maintains the failmode-selected state in the current processing of S105. When the normalmode is selected in S104 of the previous processing, the vehicle controldevice 100 switches the control mode from the normal mode to the failmode in the current processing of S105.

The present embodiment is configured as described above, and theabnormality determination unit 16 of the vehicle control device 100determines the presence or absence of a moving object motion estimationabnormality by comparing the moving object motion estimated by theobstacle detection unit 12 a and the motion indicated by the motionmodel selected by the model selection unit 15 to each other for apredetermined time. The motion model used for the determination of thepresence or absence of the abnormality is a model corresponding to amoving object type and appropriately indicates a moving object motion.By using the motion model corresponding to a moving object type asdescribed above, the vehicle control device 100 is capable of accuratelydetermining the presence or absence of the abnormality of the estimationof a motion of a tracking-object moving object. When the abnormalitydetermination unit 16 determines that there is a moving object motionestimation abnormality, the traveling plan generation unit 17 and thetraveling control unit 18 control the traveling of the host vehicle V ina control mode differing from that when the abnormality determinationunit 16 determines that there is no abnormality. As a result, thevehicle control device 100 is capable of controlling the traveling ofthe host vehicle V in accordance with the presence or absence of themoving object motion estimation abnormality.

The model selection unit 15 selects a motion model corresponding to theposition of a moving object acquired by the moving object positionacquisition unit 12 c. A constraint may be applied to a moving objectmovement (such as a maximum speed) depending on, for example, whetherthe position of the moving object on the map is on a general road or ahighway. In other words, different positions on the map have differentmoving object motion models. The model selection unit 15 is capable ofselecting an appropriate motion model in accordance with each positionon the map by selecting a motion model corresponding to a moving objectposition. As a result, the vehicle control device 100 is capable ofaccurately determining the presence or absence of the abnormality of theestimation of a motion of a tracking-object moving object.

The model selection unit 15 is capable of selecting a motion modelcorresponding to the traveling state of the host vehicle V. In the caseof traveling of a plurality of vehicles, for example, the plurality ofvehicles may perform the same motion, examples of which include theplurality of vehicles traveling at the same speed. In other words, it isconceivable that another vehicle (moving object) performs the samemotion as the host vehicle V. Accordingly, the model selection unit 15is capable of selecting a motion model corresponding to a moving objectmotion by selecting a motion model corresponding to the traveling stateof the host vehicle V as a moving object motion model. As a result, thevehicle control device 100 is capable of accurately determining thepresence or absence of the abnormality of the estimation of a motion ofa tracking-object moving object.

The motion model may also include a longitudinal direction parameterincluding the speed of a moving object in a longitudinal direction orthe like and a lateral direction parameter including the speed of themoving object in a lateral direction or the like. When the motion modelincludes the longitudinal direction parameter and the lateral directionparameter as described above, the motion of a tracking-object movingobject can be appropriately indicated by the motion model.

The traveling plan generation unit 17 determines the traveling plangenerated when the abnormality determination unit 16 determines thatthere is an abnormality in accordance with the positional relationshiprecognized by the positional relationship recognition unit 12 d. In thiscase, the traveling plan generation unit 17 is capable of determiningthe control mode for the traveling of the host vehicle V in accordancewith the positional relationship between the host vehicle V and atracking object determined to have the motion estimation abnormality.

When a moving object determined to have the motion estimationabnormality is positioned in front of the host vehicle, the travelingplan generation unit 17 generates a traveling plan for decelerating thehost vehicle V and the traveling control unit 18 decelerates the hostvehicle V based on the generated traveling plan. In addition, the HMI 7provides a notification for the driver of the host vehicle V so that thedriver himself or herself performs an accelerator or brake operation. Asa result, a decrease in the distance between the host vehicle V and themoving object in front of the host vehicle V determined to have themotion estimation abnormality can be suppressed. In addition, as aresult of the notification for the driver, the driver can recognize theoccurrence of a motion estimation abnormality of the moving object infront and the driver himself or herself can take action such as adriving operation for the host vehicle V.

When a moving object determined to have the motion estimationabnormality is present at the parallel traveling position with respectto the host vehicle, the traveling plan generation unit 17 generates atraveling plan for autonomous traveling of the host vehicle V in a lanechange-prohibited state and the traveling control unit 18 allows thehost vehicle V to perform autonomous traveling in the lanechange-prohibited state based on the generated traveling plan. In thiscase, the host vehicle V becoming close to the moving object determinedto have the motion estimation abnormality due to lane change by the hostvehicle V can be suppressed.

When the moving object determined to have the motion estimationabnormality is positioned behind the host vehicle V, the traveling plangeneration unit 17 accelerates the host vehicle V in view of the movingobject in front and a speed limit. As a result, a decrease in thedistance between the host vehicle V and the moving object behind thehost vehicle V determined to have the motion estimation abnormality canbe suppressed. In addition, when another moving object is detected infront of the host vehicle V, the host vehicle V becoming excessivelyclose to the moving object in front can be suppressed. Furthermore, thespeed of the host vehicle V exceeding the speed limit can be suppressed.

Although the embodiment of the present disclosure has been describedabove, the present disclosure is not limited to the embodiment describedabove. For example, although the vehicle control device 100 allows thehost vehicle V to perform autonomous traveling, the vehicle controldevice 100 may also perform control other than the control for theautonomous traveling insofar as the control is to control the travelingof the host vehicle V. For example, the vehicle control device 100 mayalso be a device controlling the speed of the host vehicle V such thatthe host vehicle V follows a vehicle in front while traveling. When itis determined that the estimation of a motion of the vehicle in front orthe like has an abnormality in this case, the vehicle control device 100controls the traveling of the host vehicle V in a control mode differingfrom that at a time when it is determined that there is no abnormality,examples of which include deceleration of the host vehicle V.

During moving object tracking, the obstacle detection unit 12 a mayperform the tracking by using a motion model used for the determinationof the presence or absence of the abnormality.

During moving object type determination, the type determination unit 12b may use the position of a moving object on the map recognized by themoving object position acquisition unit 12 c. For example, it isconceivable that no person walks on a highway. Accordingly, when themoving object travels on a highway, for example, the type determinationunit 12 b may determine the type of the moving object on the assumptionthat the moving object is not a person. As described above, the typedetermination unit 12 b is capable of determining the type of a movingobject in accordance with the position of the moving object.

Although the motion model is determined in accordance with each positionon the map, the motion model may not be determined in accordance witheach position on the map, either. The motion model may be determined inadvance for each moving object type. In this case, the model selectionunit 15 may select a motion model based solely on the moving object typedetermined by the type determination unit 12 b.

The traveling plan generation unit 17 may not determine the travelingplan generated when the abnormality determination unit 16 determinesthat there is an abnormality in accordance with the positionalrelationship recognized by the positional relationship recognition unit12 d. In other words, the traveling plan generation unit 17 may generatea traveling plan without using the positional relationship between amoving object and the host vehicle V recognized by the positionalrelationship recognition unit 12 d.

What is claimed is:
 1. A vehicle control device controlling traveling of a host vehicle, the vehicle control device comprising: a detection unit configured to detect a moving object around the host vehicle; a tracking unit configured to track the moving object based on a detection result of the detection unit and estimate a motion of the moving object; a type determination unit configured to determine a type of the moving object; a model storage unit configured to store a plurality of motion models determined in advance for each moving object type and indicating the motion of the moving object; a model selection unit configured to select the motion model corresponding to the moving object type determined by the type determination unit among the plurality of motion models stored in the model storage unit; an abnormality determination unit configured to determine a presence or absence of an abnormality of the estimation of the motion of the moving object by comparing the motion of the moving object estimated by the tracking unit and the motion indicated by the motion model selected by the model selection unit to each other for a predetermined time; and a control unit configured to control the traveling of the host vehicle, wherein a control mode in which the control unit is configured to control the traveling of the host vehicle when the abnormality determination unit determines that the abnormality is present differs from a control mode in which the control unit is configured to control the traveling of the host vehicle when the abnormality determination unit determines that the abnormality is absent.
 2. The vehicle control device according to claim 1, further comprising a moving object position acquisition unit configured to acquire a position of the moving object on a map, wherein the motion model is determined in advance with respect to each position on the map, and the model selection unit is configured to select the motion model corresponding to the position of the moving object acquired by the moving object position acquisition unit.
 3. The vehicle control device according to claim 1, further comprising a traveling state recognition unit configured to recognize a traveling state of the host vehicle, wherein the motion model is determined in advance for each traveling state of the moving object, and the model selection unit is configured to select the motion model corresponding to the traveling state of the host vehicle recognized by the traveling state recognition unit.
 4. The vehicle control device according to claim 1, wherein the motion model includes a longitudinal direction parameter as an extension direction parameter of a road where the moving object is present, and a lateral direction parameter as a width direction parameter of the road where the moving object is present, the longitudinal direction parameter includes at least any one of a speed of the moving object in an extension direction of the road, an acceleration of the moving object in the extension direction of the road, and a position of the moving object in the extension direction of the road, and the lateral direction parameter includes at least any one of a speed of the moving object in a width direction of the road, an acceleration of the moving object in the width direction of the road, a position of the moving object in the width direction of the road, and a direction of the moving object.
 5. The vehicle control device according to claim 1, further comprising a positional relationship recognition unit configured to recognize a positional relationship between the host vehicle and the moving object determined to have the motion estimation abnormality based on the detection result of the detection unit, wherein the control unit is configured to determine the control mode for the control of the traveling of the host vehicle performed when the abnormality determination unit determines that the abnormality is present in accordance with the positional relationship recognized by the positional relationship recognition unit.
 6. The vehicle control device according to claim 5, further comprising a notification unit configured to provide a notification with respect to a driver of the host vehicle, wherein the control unit is configured to decelerate the host vehicle and the notification unit is configured to provide the notification for the driver of the host vehicle when the positional relationship recognition unit recognizes that the moving object determined to have the motion estimation abnormality is positioned in front of the host vehicle.
 7. The vehicle control device according to claim 5, wherein the control unit is configured to allow the host vehicle to perform autonomous traveling in a lane change-prohibited state when the positional relationship recognition unit recognizes that the moving object determined to have the motion estimation abnormality is present at a parallel traveling position with respect to the host vehicle.
 8. The vehicle control device according to claim 5, wherein, when the positional relationship recognition unit recognizes that the moving object determined to have the motion estimation abnormality is positioned behind the host vehicle and another moving object is detected in front of the host vehicle by the detection unit, the control unit is configured to accelerate the host vehicle such that a distance between the host vehicle and the moving object in front does not become a predetermined distance or less and a speed of the host vehicle does not exceed a speed limit set on a road where the host vehicle travels, and when the positional relationship recognition unit recognizes that the moving object determined to have the motion estimation abnormality is positioned behind the host vehicle and no moving object is detected in front of the host vehicle by the detection unit, the control unit is configured to accelerate the host vehicle such that the speed of the host vehicle does not exceed the speed limit set on the road where the host vehicle travels. 